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v1.16.2

PX4/PX4-Autopilotv1.16.2Apr 22, 2026by github-actions[bot]

AI Summary

A maintenance release backporting critical fixes for EKF2 optical flow handling and recursion issues, along with the ability to set the UXRCE DDS agent IP via parameter in SITL.

Key Highlights

  • EKF2 fix for optical flow starting with range finder height reference
  • EKF2 fix for unbounded recursion
  • UXRCE DDS agent IP configuration via parameter

New Features

  • EKF2 optical flow fix
  • EKF2 recursion fix
  • UXRCE DDS agent IP parameter setting

Full Release Notes

## What's Changed
* [Backport 1.16] fix(ekf2): allow optical flow to start when range finder is height reference by @dakejahl in https://github.com/PX4/PX4-Autopilot/pull/26961
* fix(ekf2): break unbounded recursion [BACKPORT v1.16] by @julianoes in https://github.com/PX4/PX4-Autopilot/pull/27166

## Release Notes
* [Click here to view the full Release Notes](https://docs.px4.io/main/en/releases/1.16.html).
**Full Changelog**: https://github.com/PX4/PX4-Autopilot/compare/v1.16.1...v1.16.2